Remark 3.3 In an early exploitation of the idea of NRF-based implementations for distributed controllers, the authors have provided in [1]} a comprehensive analysis of the celebrated CACC architectures for heterogeneous platoons of LTI agents, that guarantees string stability, attains optimality for \(\mathcal {H}_2 / \mathcal {H}_\infty \)  costs and completely eliminates the accordion effect from the behavior of the platoon in the presence of heterogenous communication induced time-delays.

